From 9ebf78321453d75947bd2c7c7f9b8bafc6e3c9c9 Mon Sep 17 00:00:00 2001
From: Jaeyoung-Lim <jalim@ethz.ch>
Date: Thu, 11 Feb 2021 20:37:18 +0100
Subject: [PATCH] Use smaller loiter radius for rovers

---
 ROMFS/px4fmu_common/init.d/rc.rover_defaults | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
index 237aac9546..b56559c29c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_defaults
@@ -17,11 +17,17 @@ then
 
 	param set NAV_DLL_ACT 0
 	param set NAV_ACC_RAD 2
+	param set NAV_LOITER_RAD 2
 
 	# Temporary.
 	param set NAV_FW_ALT_RAD 1000
 fi
 
+if param greater -s NAV_LOITER_RAD 2.5
+then
+	param set NAV_LOITER_RAD 2
+fi
+
 #
 # Enable servo output on pins 3 and 4 (steering and thrust)
 # but also include 1+2 as they form together one output group